Study on the Control of 6-DOF Manipulators System with Force Feedback

Tele-operation consists of motion control and force control, of which the key is tele-presence. This paper presents the components of interactive 6-DOF tele-operation system, displacement and force servo control principle. Bilateral servo control is the core of interaction technology which provides the operator with force tele-presence and is the important foundation of the operator´s decision to complete the tele-operation tasks successfully. The slave manipulator´s free motion and limited motion experiments show that this system has realized the accurate displacement control and force tele-presence. There is a satisfactory interaction between the master and slave manipulators.